Abstract: A drive module for rotating a first robot arm member relative to a second robot arm member comprising a motor, a gear head driven by the motor, a pinion driven by the gear head and a slip clutch including an input section with integral gear teeth driven by the pinon, and an output section configured to be coupled to the second robot arm member. A housing is disposed at least about the pinion and slip clutch and configured to be coupled to the first robot arm member.

Abstract: A drive module for rotating a first robot arm member relative to a second robot arm member comprising a motor, a gear head driven by the motor, a pinion driven by the gear head and a slip clutch including an input section with integral gear teeth driven by the pinon, and an output section configured to be coupled to the second robot arm member. A housing is disposed at least about the pinion and slip clutch and configured to be coupled to the first robot arm member.

Abstract: A device for filling a medicament delivery device (e.g., a patch pump) with medicament or fluid and inserting a cannula subcutaneously enables improved results and user safety, while simplifying the set up process for a user. The device can include a housing with a first chamber portion having a first deployment mechanism and a second chamber portion having a second deployment mechanism. The device can also include a trigger mounted to the housing to activate at least one of the first deployment mechanism and the second deployment mechanism and an interface adapted to mate releasably with the medicament delivery device. The filling of the device with medicament and the insertion of the cannula may occur sequentially or simultaneously, and both actions can be initiated by a single user step or a limited number of user steps, as compared to conventional approaches.